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A lot of pieces in your error output comes from moveit, not moveit_pr2 etc. Do you need to build MoveIt! from source? Then first make sure you follow a tutorial. Otherwise, binary is available on Kinetic for MoveIt! so you might want to use it.

For errors for moveit_pr2, it most likely is not compatible with the Kinetic version of MoveIt! yet. Someone is planning a port so you might be appreciated if you can contribute.

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